| Popis: | The aim of this project is to review, implement, and compare algorithms for Inertial Measurement Unit (IMU) pre-integration. IMU pre-integration is a method summarizing tens/hundreds/thousands of inertial measurements into a single relative motion constraint, commonly utilized in dead reckoning. The project will emphasize evaluation of the pre-integration methods' performance using data containing high-frequencies induced by vibrations from rotating propellers onboard an airborne UAV. The compared pre-integration methods will consist of dissected parts of state-of-the-art SLAM methodologies (e.g., LIO-SAM, VINS-Mono, and others). Verification data will be provided to students by the supervisor. The work will include a review of related literature recommended by the supervisor.
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